John S. Bird, Martie M. Goulding; Obstacle avoidance with resource constrained detection, Proceedings of the Seventh International Symposium on Unmanned Untethered Submersible Technology, vol. 7, pp. 441 - 453, September 1991.
Martie M. Goulding received the B.A.Sc. degree in electrical engineering from the University of British Columbia in 1987 and the M.A.Sc. degree in engineering science from Simon Fraser University in 1989.From 1989 to 1990 he was a research associate with the Underwater Research Lab of Simon Fraser University, where he is now studying for the Ph.D. degree. His research interests include statistical signal processing and sensor integration for intelligent radar and sonar applications.